Title :
Control of an experimental mini quad-rotor UAV
Author :
Soumelidis, Alexandros ; Gaspar, Peter ; Regula, Gergely ; Lantos, Bela
Author_Institution :
Comput. & Autom. Res. Inst. of the Hungarian Acad. of Sci., Budapest
Abstract :
The design and the initial realization of control on an experimental in-door unmanned autonomous quadrotor helicopter is presented. This is a hierarchical embedded model-based control scheme that is built upon the concept of back-stepping, and is applied on an electric motor-driven quadrotor UAV hardware that is equipped with an embedded on-board computer, inertial sensor unit, as well as facilities that make it suitable to be involved in an in-door positioning system, and wireless digital communication network. This realization forms an important step in the development process of a more advanced realization of an UAV suitable for practical applications; it aims clarification of the control principles, acquiring experience in solving control tasks, and getting skills for the development of further realizations.
Keywords :
helicopters; mobile robots; position control; remotely operated vehicles; embedded on-board computer; hierarchical embedded model-based control scheme; indoor unmanned autonomous quadrotor helicopter; inertial sensor unit; quad-rotor UAV; unmanned aerial vehicles; Communication system control; Computer networks; Digital communication; Embedded computing; Hardware; Helicopters; Sensor systems; Unmanned aerial vehicles; Wireless communication; Wireless sensor networks; embedded control; quadrotor helicopter; unmanned aerial vehicles; vehicles control;
Conference_Titel :
Control and Automation, 2008 16th Mediterranean Conference on
Conference_Location :
Ajaccio
Print_ISBN :
978-1-4244-2504-4
Electronic_ISBN :
978-1-4244-2505-1
DOI :
10.1109/MED.2008.4602174
